Evaluation of a Commercially Available Autonomous Visual Inertial Odometry Solution for Indoor Navigation

Ankit Agarwal, Jacob R. Crouse, Eric N. Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, an Unmanned Aerial System (UAS) navigation solution using the Intel RealSense T265, a commercially available Visual Inertial Odometry device, is developed and presented in conjunction with an Extended Kalman Filter framework. Comparisons of raw and estimated position and yaw angle data from the device are made against ground truth measurements obtained via a motion capture system. Preliminary results from hand-carry tests show promising localization capability as the device continues to gather information about its environment. Further localization improvements may be achievable with varied software configurations. The performance of the Extended Kalman Filter during closed-loop flight is also evaluated, and shows smoothing of noisy measurements from the T265 and generally precise trajectory following capabilities. Future work to extend this characterization shall involve testing the performance of the device across varying flight envelopes, and especially for longer durations.

Original languageEnglish (US)
Title of host publication2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages372-381
Number of pages10
ISBN (Electronic)9781728142777
DOIs
StatePublished - Sep 2020
Event2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020 - Athens, Greece
Duration: Sep 1 2020Sep 4 2020

Publication series

Name2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020

Conference

Conference2020 International Conference on Unmanned Aircraft Systems, ICUAS 2020
CountryGreece
CityAthens
Period9/1/209/4/20

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Optimization

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